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WO2024165382A1 - Dispositif de balayage à supports multiples pour balayage de tube de test - Google Patents

Dispositif de balayage à supports multiples pour balayage de tube de test Download PDF

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Publication number
WO2024165382A1
WO2024165382A1 PCT/EP2024/052239 EP2024052239W WO2024165382A1 WO 2024165382 A1 WO2024165382 A1 WO 2024165382A1 EP 2024052239 W EP2024052239 W EP 2024052239W WO 2024165382 A1 WO2024165382 A1 WO 2024165382A1
Authority
WO
WIPO (PCT)
Prior art keywords
tube
rack
primary
image data
scanner device
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/EP2024/052239
Other languages
English (en)
Inventor
Mikkel Brenøe PEDERSEN
Per-Arne JÖNSSON
Jeppe RASK
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Flow Robotics AS
Original Assignee
Flow Robotics AS
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Flow Robotics AS filed Critical Flow Robotics AS
Publication of WO2024165382A1 publication Critical patent/WO2024165382A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10821—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices
    • G06K7/1096—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum further details of bar or optical code scanning devices the scanner having more than one scanning window, e.g. two substantially orthogonally placed scanning windows for integration into a check-out counter of a super-market
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G—PHYSICS
    • G06—COMPUTING OR CALCULATING; COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
    • G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
    • G06K7/10544—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation by scanning of the records by radiation in the optical part of the electromagnetic spectrum
    • G06K7/10712—Fixed beam scanning
    • G06K7/10722—Photodetector array or CCD scanning
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N35/00—Automatic analysis not limited to methods or materials provided for in any single one of groups G01N1/00 - G01N33/00; Handling materials therefor
    • G01N35/00584—Control arrangements for automatic analysers
    • G01N35/00722—Communications; Identification
    • G01N35/00732—Identification of carriers, materials or components in automatic analysers
    • G01N2035/00742—Type of codes
    • G01N2035/00752—Type of codes bar codes

Definitions

  • the present disclosure relates to the field of test tube handling, in particular to a scanner device for test tube scanning. Also disclosed is a tube rack system comprising a rack base and one or more tube racks.
  • Robot systems and accessory devices thereto have been developed to reduce and/or simplify the manual handling of test tubes, however challenges still remain to bridge the gap between manual and automatic handling of test tubes.
  • a scanner device comprising a housing e.g. comprising a base and a cover.
  • the scanner device comprises a first camera and/or one or more second cameras, the first camera for provision of first image data indicative of a first test tube assembly and the one or more second cameras for provision of second image data indicative of a second test tube assembly.
  • the one or more second cameras include a second primary camera for provision of second primary image data indicative of one or more test tubes arranged in a second tube rack of the second test tube assembly.
  • the scanner device comprises one or more processors connected to the first camera and/or the one or more second cameras including the second primary camera.
  • the one or more processors are optionally configured to determine a first set of first tube identifiers, e.g.
  • a second set of second tube identifiers e.g. based on the second image data; and configured to output, such as transmit and/or display, a data record indicative of the first set of first tube identifiers and/or the second set of second tube identifiers.
  • the method comprises obtaining first image data indicative of a first test tube assembly and/or second image data indicative of a second test tube assembly; optionally determining a first set of first tube identifiers based on the first image data; determining a second set of second tube identifiers based on second image data.
  • the method comprises outputting a data record, e.g. indicative of the first set of first tube identifiers and/or the second set of second tube identifiers.
  • the scanner device allows for improved detection and determination of test tube identifiers. Further, the present disclosure allows for time-efficient and/or fail-safe determination of test tube identifiers.
  • the present disclosure allows for an improved collaboration between a robot and lab personnel when handling test tubes.
  • a compact scanner device is provided to provide space-efficient scanning of tube racks of different type.
  • Fig. 1 is an example block diagram of a scanner device according to the present disclosure
  • Fig. 2 is a perspective view of a scanner device according to the present disclosure
  • Fig. 3 is a top view of an example scanner device
  • Fig. 4 is an end view of an example scanner device
  • Fig. 5 is a first side view of an example tube rack
  • Fig. 6 is a top view of an example tube rack
  • Fig. 7 is a first perspective view of an example tube rack
  • Fig. 8 is a second perspective view of an example tube rack
  • Fig. 9 is a first end view of an example tube rack
  • Fig. 10 shows a more detailed top view of an example tube receptacle
  • Fig. 11 shows a more detailed view of an example elastic member before insertion in connector
  • Fig. 12 shows a perspective view of an example rack base
  • Fig. 13 shows a top view of an example rack base
  • Fig. 14 shows a bottom view of an example rack base
  • Fig. 15 shows a first perspective view of a rack system comprising a rack base and a plurality of tube racks
  • Fig. 16 shows a second perspective view of a rack system comprising a rack base and a plurality of tube racks, and
  • Fig. 17 shows a perspective view of an example scanner device with a spacer device.
  • the scanner device comprises a housing.
  • the housing may comprise a base and a cover.
  • the cover may be a multipart cover.
  • the cover may comprise a first cover part and optionally a second cover part.
  • the cover comprises one or more of a third cover part, a fourth cover part, and a fifth cover part.
  • the scanner device may comprise a frame for mounting components of the scanner device within the housing.
  • the scanner device comprises an interface.
  • the interface may comprise one or more connectors, e.g. for wired connection to a robot and/or one or more accessory devices, such as a tablet computer, a laptop computer, and/or a personal computer.
  • the interface may comprise a wireless interface, such as a wireless transceiver, for wireless communication with a robot and/or one or more accessory devices, such as a tablet computer, a laptop computer, and/or a personal computer.
  • the interface may comprise a display, e.g. for display of one or more tube indicators or other user interface elements, e.g. indicative of an internal state of the scanner device.
  • the display may comprise one or more LEDs or LED devices, such an array of LEDs or LED devices. An LED or a LED device is commonly referred to as an LED.
  • the LEDs may be multicolor LEDs, e.g. configured to emit a plurality of colors, such as two, three, four, or more colors.
  • the scanner device optionally comprises one or more of a first camera for provision of first image data also denoted ID_1 indicative of a first test tube assembly, such as indicative of a first tube rack and/or one or more first test tubes of the first test tube assembly.
  • the first image data may comprise one or more first images with a resolution of at least 2 MP.
  • the scanner device comprises one or more second cameras for provision of second image data also denoted ID_2 indicative of a second test tube assembly.
  • the one or more second cameras may be referred to as a second camera module.
  • the one or more second cameras include a second primary camera for provision of second primary image data also denoted I D_2_1 indicative of one or more test tubes arranged in a second tube rack of the second test tube assembly.
  • the second primary image data represent one or more images obtained with the second primary camera.
  • the one or more second cameras may comprise a plurality of second cameras or at least three second cameras.
  • the one or more second cameras comprise a second secondary camera for provision of second secondary image data also denoted ID_2_2 indicative of one or more test tubes arranged in the second tube rack.
  • the second secondary image data represent one or more images obtained with the second secondary camera.
  • the one or more second cameras comprise a second tertiary camera for provision of second tertiary image data also denoted ID_2_3 indicative of one or more test tubes arranged in the second tube rack.
  • the second tertiary image data represent one or more images obtained with the second tertiary camera.
  • the one or more second cameras comprise a second quaternary camera for provision of second quaternary image data also denoted ID_2_4 indicative of one or more test tubes arranged in the second tube rack.
  • the second quaternary image data represent one or more images obtained with the second quaternary camera.
  • the second image data such as the second primary image data, the second secondary image data, the second tertiary image data and/or the second quaternary image data may comprise one or more second images with a resolution of at least 2 MP.
  • the scanner device comprises one or more processors connected to the first camera and/or connected to one or more second cameras including the second primary camera.
  • the one or more processors are optionally configured to determine a first set of first tube identifiers based on the first image data.
  • the first set of first tube identifiers comprises N_1 first tube identifiers also denoted T_ID_1 J, where i is an index from 1 to N_1.
  • the number N_1 of first tube identifiers is at least 10, such as 24, 48, 96, 384, 512, or even 1 ,536.
  • the first set of first tube identifiers may be based on 2D barcodes, such as data matrix codes, such as an N X M data matrix code, where N is larger than 10 and M is larger than 10.
  • the first set of first tube identifiers may be based on QR codes. In other words, the first image data may include 2D barcodes.
  • a first tube identifier may be a text string or an integer.
  • a first tube identifier may be alphanumerical or numerical.
  • To determine a first set of first tube identifiers based on the first image data may comprise filtering and/or transforming the first image data.
  • to determine a first set of first tube identifiers based on the first image data may comprise determining a number of N_1 first images based on the first image data, each first image representative of a barcode of a first test tube and determine first tube identifiers based on the first images.
  • To determine a first set of first tube identifiers based on the first image data may comprise to verify each first tube identifier, e.g. to verify whether the format, such as the number of digits/characters, of the detected first tube identifier is correct.
  • the one or more processors are optionally configured to determine a second set of second tube identifiers based on the second image data, such as based on one or more of the second primary image data, the second secondary image data, the second tertiary image data, and the second quaternary image data.
  • the second set of second tube identifiers comprises N_2 second tube identifiers also denoted T_ID_2_i, where i is an index from 1 to N_2.
  • the number N_2 of second tube identifiers is 4 or more, such as 6 or 8.
  • the number N_2 of second tube identifiers may be at least 10, such as 12, 14, or 16, e.g. in the range from 10 to 20.
  • the second set of second tube identifiers may be based on 1 D barcodes. In other words, the second image data may include 1 D barcodes.
  • a second tube identifier may be a text string or an integer.
  • a second tube identifier may be alphanumerical or numerical.
  • To determine a second set of first tube identifiers based on the second image data may comprise filtering and/or transforming the second image data.
  • to determine a second set of second tube identifiers based on the second image data may comprise determining a number of N_2 second images based on the second image data, each second image representative of a barcode of a second test tube and determine second tube identifiers based on the second images.
  • To determine a second set of second tube identifiers based on the second image data may comprise to verify each second tube identifier, e.g. to verify whether the format, such as the number of digits/characters, of the detected second tube identifier is correct.
  • the one or more processors are configured to output a data record, e.g. indicative of the first set of first tube identifiers and/or the second set of second tube identifiers.
  • a data record e.g. indicative of the first set of first tube identifiers and/or the second set of second tube identifiers.
  • To output the data record, e.g. indicative of tube identifiers may comprise to store the data record in memory of the scanner device and/or provide an output via the display indicative of the data record.
  • To output the data record may comprise to transmit the data record via the interface, such as the first connector or a wireless transceiver, to a robot or an accessory device.
  • the interface such as the first connector or a wireless transceiver
  • the data record may comprise the first set of first tube identifiers and/or the second set of second tube identifiers.
  • the data record may comprise the first image data or at least parts thereof, such as one or more first images IMAGE_1_1-IMAGE_1_N_1 .
  • the data record may comprise the second image data or at least parts thereof, such as one or more of or parts of I D_2_1 , ID_2_2, ID_2_3, and ID_2_4, such as one or more second images IMAGE_2_1-IMAGE_2_N_2.
  • a scanner device is disclosed.
  • the scanner device allows space-efficient and error-safe handling of different types of tube racks.
  • tube rack for test tubes, rack base, and rack system comprising one or more tube racks and a rack base is disclosed.
  • the tube rack is optionally configured for use with a scanner device and/or a rack base as disclosed herein.
  • the scanner device comprises a housing comprising a base and a cover; a first camera for provision of first image data indicative of a first test tube assembly; one or more second cameras for provision of second image data indicative of a second test tube assembly, the one or more second cameras including a second primary camera for provision of second primary image data indicative of one or more test tubes arranged in a second tube rack of the second test tube assembly; and one or more processors connected to the first camera and the second primary camera, wherein the one or more processors are configured to determine a first set of first tube identifiers based on the first image data; determine a second set of second tube identifiers based on the second image data; and output a data record indicative of the first set of first tube identifiers and/or the second set of second tube identifiers.
  • the cover such as the first cover part, has a first surface comprising a first window.
  • the first surface may be planar.
  • the first cover part is formed as a frosted, opaque, or otherwise nontransparent glass plate or polymer plate comprising a clear or otherwise optically transparent region forming the first window.
  • the scanner device comprises a first set of one or more first magnets arranged around the first window. Thereby, correct positioning of the first tube rack for scanning is facilitated. Further, a first tube rack and/or a spacer device is allowed to self-position, e.g. when placed off the correct scanning position.
  • the first camera is configured to obtain a first image of a first image plane through the first window.
  • the first image plane may form an angle less than 5 degrees with the first surface.
  • the first image plane is parallel to the first surface.
  • the first image plane is arranged at a first image plane distance also denoted D_l P_1 from the first surface.
  • the first image plane distance may be larger than 10 mm, such as larger than 15 mm.
  • the first image plane distance is in the range from 18 mm to 40 mm.
  • a first image plane distance e.g. larger than 10 mm may reduce the risk of condensation formation in the first optical path from the first image plane to the first sensor of the first camera.
  • a first image plane distance less than 40 mm may allow for provision of a compact scanner device.
  • the first image plane is arranged at a first sensor distance from a first sensor of the first camera.
  • the first sensor distance may be in the range from 50 mm to 150 mm.
  • a first sensor distance e.g. in the range from 50 mm to 150 mm may allow for provision of a sufficient image area and at the same time allow for provision of a compact scanner device.
  • the cover such as a second cover part, has a second surface comprising one or more second windows including a second primary window.
  • the one or more second windows may comprise one or more of a second secondary window, a second tertiary window, and a second quaternary window.
  • the second primary camera is configured to obtain a second primary image also denoted IM_2_1 of a second primary image plane also denoted I P_2_1 through the second primary window.
  • a single second window may cover a plurality of second cameras, i.e. the second primary camera and the second secondary camera may be configured to obtain images through the same second window.
  • the second surface may be planar, e.g. extending in a second surface plane also denoted SP_2.
  • the second surface plane SP_2 may form an angle, e.g. in the range from 5 degrees to 20 degrees, with the second image plane, e.g. in order to facilitate a compact scanner device.
  • the second surface plane SP_2 may form an angle, e.g. larger than 60 degrees, such as in the range from 80 degrees to 89 degrees, with the first image plane IM_P_1 and/or the first surface plane SP_1 , e.g. in order to facilitate a compact scanner device.
  • the second cover part is formed as a frosted, opaque, or otherwise non-transparent glass plate or polymer plate comprising clear or otherwise optically transparent regions forming the second window(s), such as one or more of the second primary window, a second secondary window, a second tertiary window, and a second quaternary window.
  • the second secondary camera is configured to obtain a second secondary image also denoted IM_2_2 of a second secondary image plane also denoted IP_2_2 through the second secondary window.
  • the second tertiary camera is configured to obtain a second tertiary image also denoted IM_2_3 of a second tertiary image plane also denoted IP_2_3 through the second tertiary window.
  • the second quaternary camera is configured to obtain a second quaternary image also denoted IM_2_4 of a second quaternary image plane also denoted IP_2_4 through the second quaternary window.
  • the second image planes, IP_2_1 , IP_2_2, IP_2_3, and IP_2_4 may be parallel.
  • the second image planes, IP_2_1 , IP_2_2, IP_2_3, and IP_2_4 may be in the same second plane also denoted IP_2.
  • an angle also denoted V_1_2_1 between the first image plane and the second primary image plane is larger than 45 degrees, such as in the range from 50 degrees to 90 degrees.
  • V_1_2_1 is less than 90 degrees, such as in the range from 60 degrees to 89 degrees, e.g. 75 degrees.
  • the second primary camera is able to detect longer barcodes on the second test tubes of the second tube rack, the second test tubes typically being arranged with longitudinal axes in or parallel to a second test tube plane TTP_2, e.g. perpendicular to a first surface plane also denoted SP_1 spanned by the first surface.
  • an angle also denoted V_1_2 between the first image plane and the second image plane is larger than 45 degrees, such as in the range from 50 degrees to 90 degrees. In one or more examples, V_1_2 is less than 90 degrees, such as in the range from 60 degrees to 89 degrees, e.g. 75 degrees.
  • the second image plane such as one or more of the second primary image plane, the second secondary image plane, the second tertiary image plane, and the second quaternary image plane, is arranged at a second image plane distance also denoted D_IP_2 (measured along center of second optical path) from the second surface.
  • the second image plane distance may be larger than 10 mm, such as larger than 20 mm.
  • the second image plane distance is less than 100 mm such as in the range from 25 mm to 60 mm.
  • a second image plane distance e.g. in the range from 25 to 60 mm.
  • a second image plane distance e.g. in the range from 25 mm to 60 mm may allow for provision of a sufficient image area and at the same time allow for provision of a compact scanner device.
  • the second image plane such as one or more of the second primary image plane, the second secondary image plane, the second tertiary image plane, and the second quaternary image plane, is arranged at a second sensor distance from a second sensor of a second camera.
  • the second sensor distance may be in the range from 50 mm to 100 mm.
  • a second sensor distance e.g. in the range from 50 mm to 100 mm may allow for provision of a sufficient image area and at the same time allow for provision of a compact scanner device.
  • the one or more processors are configured to determine a first rack identifier also denoted R_ID_1 of the first tube rack, such as based on the first image data.
  • the data record is indicative of the first rack identifier.
  • the first rack identifier may be based on a 1 D barcode and/or a 2D barcode, e.g. arranged on a bottom surface of the first tube rack.
  • the one or more processors are configured to determine a second rack identifier also denoted R_ID_2 of the second tube rack, such as based on the second image data.
  • the second rack identifier may be based on one or more of the second primary image data, the second secondary image data, the second tertiary image data, and the second quaternary image data.
  • the data record is indicative of the second rack identifier.
  • the second rack identifier may be based on a 1 D barcode and/or a 2D barcode.
  • the second rack identifier based on second image data from second camera(s) may be or correspond to the primary rack identifier of the tube rack as described herein .
  • the first test tube assembly comprises a first tube rack, such as a matrix plate configured to accommodate a plurality of first test tubes.
  • the matrix plate comprises a plurality of tube receptacles, each tube receptacle forming a tube cavity for holding a test tube.
  • the matrix plate may comprise at least 20 tube receptacles, such as 24, 48, or, 96 tube receptacles, arranged in an N X M matrix configuration, such as a 4X6 matrix configuration or a 8X12 matrix configuration.
  • the matrix plate may have a footprint according to an SLAS standard, such as ANSI SLAS 1- 2004 (R2012).
  • a footprint of the first tube rack may have a length in the range from 100 mm to 150 mm and/or a width in the range from 75 to 100 mm.
  • the first test tubes of the first test tube assembly may comprise a first barcode, such as a 2D barcode arranged at the bottom of the respective first test tube.
  • the second test tube assembly comprises a second tube rack, such as a line tube rack also denoted a single-line tube rack configured to accommodate a plurality of second test tubes.
  • the single-line tube rack comprises a plurality of tube receptacles arranged along a longitudinal axis, each tube receptacle forming a tube cavity.
  • the single-line tube rack comprises a rack body having a first end and a second end and comprising a bottom surface, the bottom surface optionally being planar or at least having a planar region.
  • a footprint of the first tube rack, such as a footprint of the rack body may have a length in the range from 100 mm to 500 mm and/or a width in the range from 15 mm to 50 mm.
  • the second tube rack may be different from the first tube rack.
  • the second test tubes of the second test tube assembly may comprise a respective second barcode, such as a 1 D barcode arranged on a side of the respective second test tube.
  • the first camera has a first resolution of a least 2 megapixel, such as in the range from 3 megapixel to 15 megapixel.
  • the first camera may be an 8 megapixel or a 12 megapixel camera.
  • the first resolution of the first camera may be larger than 15 megapixel, such as in the range from 16 megapixel to 50 megapixel or larger than 50 megapixel.
  • the first resolution of the first camera may be larger than 200 megapixel.
  • the second camera(s), such as the second primary camera and/or the second secondary camera each has a second resolution of at least 1 megapixel, such as in the range from 2 megapixel to 10 megapixel.
  • the second camera(s) may be 5 megapixel or 8 megapixel camera(s).
  • the second resolution of the second camera(s) may be larger than 10 megapixel, such as in the range from 11 megapixel to 50 megapixel or larger than 50 megapixel.
  • the second resolution of the second camera(s) may be larger than 200 megapixel.
  • the one or more second cameras include a second secondary camera for provision of second secondary image data indicative of one or more test tubes arranged in the second test tube assembly.
  • to determine the second set of tube identifiers based on the second image data comprises to determine the second set of tube identifiers based on the second secondary image data.
  • the scanner device may comprise a first dock configured to receive the first tube rack.
  • the first dock may be arranged in a spacer device configured to be arranged on the first surface.
  • the scanner device may comprise a spacer device configured to arrange the first tube rack in a first scanning position, such as at a first distance from the first surface.
  • the spacer device may comprise one or more spacer magnets or magnetically engageable elements configured to magnetically engage with one or more first magnets arranged circumferentially around the first window.
  • a first tube rack is lifted from the first surface of the scanner device, thereby reducing the risk of or avoiding formation of ice, condensation or moisture on the first surface/first window, e.g. when the first tube rack is a cryo rack directly from a freezer, which may lead to poor or erroneous scanning of the first test tube assembly.
  • spacer device and magnets allows the first surface to be smooth, such as planar, thereby facilitating cleaning which is of high importance in the lab.
  • the scanner device comprises a second dock configured to receive the second tube rack, the second dock comprising a recess in the base.
  • the recess of the second dock may be a longitudinal recess (i.e. extending along a longitudinal axis) having a first end and a second end. The second end may be an open end, thereby allowing a user to slide the second tube rack into the second dock along longitudinal axis of the recess.
  • the recess may be configured to allow a user to place the second tube rack in the second dock along an axis perpendicular or otherwise angled in relation to the longitudinal axis of the recess.
  • the recess may have a ground surface configured to support the second tube rack. The ground surface may be planar.
  • the recess may comprise a first side wall and a second side wall extending along the longitudinal axis.
  • the recess is optionally straight.
  • the recess may comprise a first end wall for provision of a stop for the second tube rack to facilitate correct positioning of the second tube rack.
  • the recess of the second dock has a width also denoted W_R, e.g. in the range from 20 mm to 50 mm and a length also denoted L_R, e.g. in the range from 250 mm to 500 mm.
  • the second dock comprises one or more rails, e.g. for engagement with rail engagers arranged at the bottom surface of the second tube rack.
  • the recess, such as first side wall and/or second side wall, of the second dock may be configured for press-fit engagement with the second tube rack.
  • the base of the scanner device comprises a second magnet arranged at the recess, such as at the first end of the recess.
  • the second magnet may be arranged outside the recess, inside the recess, and/or near the first end of the recess, such as within 5 cm from the first end.
  • the provision of a second magnet at the recess facilitate, ensures, and maintains correct positioning of the second tube rack for scanning. Further, a second tube rack is allowed to self-position, e.g. when placed off the correct scanning position.
  • to determine the first set of first tube identifiers based on the first image data comprises to determine at least ten first tube identifiers based on the first image data.
  • to determine the second set of second tube identifiers based on the second image data comprises to determine at least ten second tube identifiers based on the second image data.
  • To determine the second set of second tube identifiers based on the second image data may comprise to determine a plurality of, such as in the range from three to ten, such as four, six, or eight, second tube identifiers based on the second primary image data.
  • To determine the second set of second tube identifiers based on the second image data may comprise to determine a plurality of, such as in the range from three to ten, such as four, six, or eight, second tube identifiers based on the second secondary image data.
  • To determine the second set of second tube identifiers based on the second image data may comprise to determine a plurality of, such as in the range from three to ten, such as four, six, or eight, second tube identifiers based on the second tertiary image data.
  • To determine the second set of second tube identifiers based on the second image data may comprise to determine a plurality of, such as in the range from three to ten, such as four, six, or eight, second tube identifiers based on the second quaternary image data.
  • a tube rack for test tubes is disclosed.
  • the tube rack may be a single-line tube rack or a multi-line tube rack.
  • the tube rack comprises a plurality of tube receptacles arranged along a longitudinal axis, each tube receptacle forming a tube cavity.
  • each tube cavity is exposed, such as at least optically exposed, to a first side of the tube rack.
  • the tube rack comprises a rack body having a first end and a second end.
  • the tube rack, such as the rack body comprises a bottom surface, the bottom surface optionally having a planar region.
  • a first tube receptacle of the plurality of tube receptacles comprises a first primary support surface and/or a first secondary support surface.
  • the first tube receptacle comprises a first elastic member configured to press a first test tube arranged in the first tube receptacle towards, such as against and/or in contact with, the first primary support surface and/or the first secondary support surface, e.g. towards a first side of the tube rack, e.g. in a first direction perpendicular to or at an angle larger than 45 degrees to the longitudinal axis of the tube rack.
  • the tube rack comprises a plurality of tube receptacles arranged along a longitudinal axis.
  • the tube rack may be a 4-tube tube rack, an 8-tube tube rack, or a 16-tube tube rack.
  • the tube rack/plurality of tube receptacles comprise a first tube receptacle and a second tube receptacle.
  • Tube cavities such as the first tube cavity and/or second tube cavity are exposed, such as at least optically exposed, to a first side of the tube rack, e.g. via respective windows, slits or openings in the tube rack.
  • a tube receptacle such as first tube receptacle and/or second tube receptacle, optionally comprises an elastic member configured to press a test tube arranged in the tube receptacle towards, such as against and/or in contact with, the primary support surface and/or the secondary support surface of the tube receptacle, e.g. towards a first side of the tube rack, e.g. in a first direction perpendicular to or at an angle larger than 45 degrees to the longitudinal axis of the tube rack.
  • a tube receptacle such as first tube receptacle and/or second tube receptacle, may be configured to receive and hold test tubes having a diameter in the range from 7 mm to 18, such as in the range from 9 mm to 16 mm.
  • a tube receptacle such as first tube receptacle and/or second tube receptacle, may be configured to receive and hold a test tube of a first type with a tube diameter less than 12 mm, such as less than 10 mm.
  • a tube receptacle, such as first tube receptacle and/or second tube receptacle may be configured to receive and hold a test tube of a second type with a tube diameter larger than 12 mm such as larger than 14 mm.
  • the elastic member such as first elastic member and/or second elastic member, may be made of metal, such as steel or other alloy.
  • the elastic member, such as first elastic member and/or second elastic member may be made of a polymer material, such as Polyethylen (PE).
  • PE Polyethylen
  • the elastic member(s), such as first elastic member and/or second elastic member may be made of stainless steel, such as an AISI 301 or 302 alloy (1.4310).
  • the tube rack is a single-line tube rack and comprising a plurality of tube receptacles arranged along a longitudinal axis, each tube receptacle forming a tube cavity, wherein each tube cavity is exposed to a first side of the tube rack; and a rack body having a first end and a second end and comprising a bottom surface, the bottom surface having a planar region, wherein a first tube receptacle of the plurality of tube receptacles comprises a first primary support surface, a first secondary support surface, and a first elastic member configured to press a first test tube arranged in the first tube receptacle towards the first primary support surface and the first secondary support surface.
  • the tube rack comprises one or more rack identifiers.
  • the one or more rack identifiers comprise one or both of a primary rack identifier and a secondary rack identifier.
  • the primary rack identifier is arranged on a first side surface of the tube rack and the secondary rack identifier is arranged on the bottom surface of the tube rack.
  • the first tube receptacle such as the first elastic member, comprises a first receptacle identifier.
  • the first receptable identifier may be arranged on a first surface of the first elastic member.
  • the receptacle identifiers such as the first receptacle identifier, may be exposed, such as at least optically exposed, to the first side of the tube rack, e.g. via respective windows, slits or openings in the tube rack.
  • a scanner device such as a scanner device may be able to detect an empty tube receptacle, i.e.
  • a receptacle identifier such as the first receptacle identifier, may comprise a symbol or other element that is identifiable by image processing, e.g. of second image data captured by second camera(s) of scanner device as disclosed herein.
  • the plurality of tube receptacles comprises a second tube receptacle adjacent the first tube receptacle.
  • the second tube receptacle comprises a second primary support surface and/or a second secondary support surface.
  • the second tube receptacle comprises a second elastic member configured to press a second test tube arranged in the second tube receptacle towards, such as against and/or in contact with, the second primary support surface and/or the second secondary support surface.
  • the rack body comprises a ground part and a first protrusion extending from the ground part.
  • the first protrusion comprises the first secondary support surface and the second primary support surface.
  • the tube rack comprises a first end part and/or a second end part.
  • the first end part comprises the first primary support surface.
  • the second end part comprises a secondary support surface, such as an eighth secondary support surface of an 8-tube tube rack or a sixteenth secondary support surface of a 16-tube tube rack.
  • the tube rack comprises one or more magnets arranged in or on the rack body.
  • the one or more magnets comprise a first magnet arranged in a first magnet cavity of the rack body.
  • the first magnet of the tube rack may be arranged the first end of the rack body.
  • the first magnet of the tube rack may be arranged near the first end of the rack body, such as within 5 cm from the first end. The provision of a first magnet at the first end of the rack body facilitates, ensures, and maintains correct positioning of the tube rack in a dock, such as a second dock of the scanner device and/or a primary, secondary and/or tertiary dock of the rack base.
  • the tube rack may be allowed to self-position, e.g. when placed off the correct position in a dock.
  • the rack body comprises a side wall forming a second side surface of the tube rack. The side wall may extend from the first end to the second end of the rack body.
  • the rack body/side wall may comprise one or more connectors for mounting respective elastic members in respective tube receptacles.
  • the rack body/side wall may comprise a first connector for mounting the first elastic member to the rack body/first tube receptacle.
  • the rack body/side wall may comprise a second connector for mounting the second elastic member to the rack body/second tube receptacle.
  • the rack body is made of a metallic material, such as aluminum or an alloy comprising aluminum.
  • the rack body may be made of a polymer material.
  • a rack base for a rack system is disclosed.
  • the rack system comprises the rack base and one or a plurality of tube racks.
  • the rack base has a top surface and a bottom surface.
  • the rack base comprises one or a plurality of docks including a primary dock and/or a secondary dock.
  • the primary dock is configured to receive a primary tube rack.
  • the primary dock comprises a primary recess in the top surface, the primary recess being a longitudinal recess having a first end and a second end, such as an open second end.
  • the secondary dock comprises a secondary recess in the top surface, the secondary recess being a longitudinal recess having a first end and a second end, such as an open second end.
  • the rack base has a top surface and a bottom surface and comprising a plurality of docks including a primary dock and a secondary dock, the primary dock configured to receive a primary tube rack, the primary dock comprising a primary recess in the top surface, the primary recess being a longitudinal recess having a first end and an open second end, and the secondary dock comprising a secondary recess in the top surface, the secondary recess being a longitudinal recess having a first end and an open second end.
  • the rack base/plurality of docks may comprise a tertiary dock configured to receive a tertiary tube rack.
  • the tertiary dock comprises a tertiary recess in the top surface, the tertiary recess being a longitudinal recess having a first end and a second end, such as an open second end.
  • a recess of a dock may comprise a support surface, a first side wall, and a second side wall.
  • the support surface may have a shape and size corresponding to a footprint of a rack base, such as corresponding to on outer circumference of a bottom surface of a tube rack.
  • a recess of a dock may have a width (distance between first sidewall and second sidewall) also denoted W_1 for the primary recess, W_2 for the secondary recess, and W_3 for the tertiary recess.
  • a recess of a dock may have a length (distance from the first end to the second end of the recess) also denoted LR_1 for the primary recess, LR_2 for the secondary recess, and LR_3 for the tertiary recess.
  • W_1 , W_2, and W_3 are in a range from 20 mm to 50 mm.
  • LR_1 , LR_2, and LR_3 are in the range from 250 mm to 500 mm.
  • the widths of the primary recess, the secondary recess, and the tertiary recess may increase towards the second end of the of the primary recess, the secondary recess, and the tertiary recess. Thereby insertion of a tube rack via open second end of the recess of the dock is facilitated.
  • the primary dock comprises a primary opening or window for scanning a rack identifier of the primary tube rack through the primary opening or window.
  • the primary dock may comprise an optically transparent region or opening from the bottom surface to the top surface.
  • the secondary dock comprises a secondary opening or window for scanning a rack identifier of the secondary tube rack through the secondary opening or window.
  • the secondary dock may comprise an optically transparent region or opening from the bottom surface to the top surface.
  • the tertiary dock comprises a tertiary opening or window for scanning a rack identifier of the tertiary tube rack through the tertiary opening or window.
  • the tertiary dock may comprise an optically transparent region or opening from the bottom surface to the top surface. It is to be understood that descriptions of the primary dock and/or the secondary dock may also apply to the tertiary dock and vice versa.
  • the primary dock comprises one or more magnets arranged in the rack base, the one or more magnets of the primary dock configured to magnetically engage with the primary tube rack.
  • the one or more magnets of the primary dock optionally comprises a primary magnet e.g. arranged near the first end of the primary recess, such as within 5 cm from the first end.
  • the provision of a primary magnet at the primary recess facilitates, ensures, and maintains correct and secure positioning of the primary tube rack for handling, such as moving and/or scanning. Further, a primary tube rack is allowed to self-position in the rack base.
  • the secondary dock comprises one or more magnets arranged in the rack base, the one or more magnets of the secondary dock configured to magnetically engage with the secondary tube rack.
  • the one or more magnets of the secondary dock optionally comprises a primary magnet e.g. arranged near the first end of the secondary recess, such as within 5 cm from the first end.
  • the provision of a secondary magnet at the secondary recess facilitates, ensures, and maintains correct and secure positioning of the secondary tube rack for handling, such as moving and/or scanning. Further, a secondary tube rack is allowed to self-position in the rack base.
  • the tertiary dock comprises one or more magnets arranged in the rack base, the one or more magnets of the tertiary dock configured to magnetically engage with the tertiary tube rack.
  • the one or more magnets of the tertiary dock optionally comprises a tertiary magnet e.g. arranged near the first end of the tertiary recess, such as within 5 cm from the first end.
  • a tertiary magnet at the tertiary recess facilitates, ensures, and maintains correct and secure positioning of the tertiary tube rack for handling, such as moving and/or scanning. Further, a tertiary tube rack is allowed to self-position in the rack base.
  • the rack base comprises a first robot engagement member arranged on the bottom surface for engagement with an experiment layer, such as a first opening of the experiment layer of a robot.
  • the first robot engagement may also be denoted and seen as a first support configured to support the rack base when positioned on a table.
  • the rack base comprises a second robot engagement member arranged on the bottom surface for engagement with an experiment layer, such as a second opening of an experiment layer of a robot.
  • the second robot engagement may also be denoted and seen as a second support configured to support the rack base when positioned on a table.
  • the primary opening and/or the secondary opening are arranged between the first robot engagement member and the second robot engagement member along a longitudinal axis of the rack base, such as along the longitudinal axis of primary recess and secondary recess, respectively.
  • the tertiary opening may be arranged between the first robot engagement member and the second robot engagement member along a longitudinal axis of the rack base, such as along the longitudinal axis of tertiary primary recess.
  • the primary dock comprises an asymmetric first tube rack engagement member at the first end of the primary recess for securing correct orientation of the primary tube rack in the primary dock.
  • the secondary dock may comprise an asymmetric first tube rack engagement member at the first end of the secondary recess for securing correct orientation of the secondary tube rack in the primary dock and/or the tertiary dock may comprise an asymmetric first tube rack engagement member at the first end of the tertiary recess for securing correct orientation of the tertiary tube rack in the tertiary dock.
  • the rack system comprises a rack base, a primary tube rack, and a secondary tube rack.
  • the primary tube rack and/or the secondary tube rack may be a tube rack as described herein.
  • the rack system may comprise a tertiary tube rack.
  • the tertiary tube rack may be a tube rack as described herein.
  • Fig. 1 is an example block diagram of a scanner device.
  • the scanner device 2 comprises a housing 10; a first camera 12 for provision of first image data ID_1 indicative of a first test tube assembly; one or more, such as a plurality of, second cameras 14 for provision of second image data ID_2 indicative of a second test tube assembly, the one or more second cameras including a second primary camera 14A for provision of second primary image data ID_2_1 indicative of one or more test tubes arranged in a second tube rack of the second test tube assembly, such as a primary part of the second tube rack.
  • the one or more second cameras include a second secondary camera 14B for provision of second secondary image data ID_2_2 indicative of one or more test tubes arranged in a second tube rack of the second test tube assembly, such as a secondary part of the second tube rack.
  • the one or more second cameras include a second tertiary camera 14C for provision of second tertiary image data ID_2_3 indicative of one or more test tubes arranged in a second tube rack of the second test tube assembly, such as a tertiary part of the second tube rack.
  • the one or more second cameras include a second quaternary camera 14D for provision of second quaternary image data ID_2_4 indicative of one or more test tubes arranged in a second tube rack of the second test tube assembly, such as a quaternary part of the second tube rack.
  • the first camera 12 has a first resolution of 8 megapixel and the second cameras 14A, 14B, 14C, 14D each has a second resolution of 5 megapixel.
  • the scanner device 2 comprises one or more processors 16 connected to the first camera 12 and the second cameras 4 including the second primary camera 14A.
  • the one or more processors 14 are configured to determine a first set of first tube identifiers T_ID_1_i, where i is an index from 1 to N_1 based on the first image data comprising or representing 2D barcodes, and determine a second set of second tube identifiers T_ID_2_k where k is an index from 1 to N_2 based on the second image data ID_2 including ID_2_1 , ID_2_2, ID_2_3, and ID_2_4, the second image data comprising or representing 1 D barcodes.
  • the scanner device comprises an interface 18 comprising a display 20 and one or more connectors including a first connector 21 for wired connection to a robot.
  • the one or more processors 16 are configured to determine and output a data record D_R indicative of tube identifiers, such as the first set of first tube identifiers and/or the second set of second tube identifiers.
  • To output the data record D_R indicative of tube identifiers may comprise to transmit the data record via interface 18, such as the first connector 21 or a wireless transceiver (not shown).
  • To output the data record D_R indicative of tube identifiers may comprise to store the data record in memory 22 and/or provide an output via the display 20 indicative of the data record.
  • the one or more processors 16 may be configured to determine a first rack identifier of the first tube rack based on the first image data I D_1 , wherein the data record D_R is indicative of the first rack identifier
  • the one or more processors 16 may be configured to determine a second rack identifier also denoted R_ID_2 of the second tube rack based on the second image data, such as one of ID_2_1 , ID_2_2, ID_2_3, _ID_2_4, wherein the data record D_R is indicative of the second rack identifier.
  • the operations of the scanner device 2 may be considered a method that the scanner device 2 is configured to perform and/or a method for test tube scanning. Also, while the described functions and operations may be implemented in software, such functionality may as well be carried out via dedicated hardware or firmware, or some combination of hardware, firmware and/or software.
  • the memory 22 may be one or more of a buffer, a flash memory, a hard drive, a removable media, a volatile memory, a non-volatile memory, a random access memory (RAM), or other suitable device.
  • the memory circuitry 22 may include a non-volatile memory for long term data storage and a volatile memory that functions as system memory for the one or more processors 16.
  • the memory 22 and/or cameras 12, 14A, 14B, 14C, 14D may exchange data with the one or more processors 16 over a data bus (not shown in Fig. 1 ) . Control lines and an address bus between the memory 22 and the one or more processors 16 also may be present.
  • the memory 22 is considered a non-transitory computer readable medium.
  • Fig. 2 is a perspective view of an example implementation of scanner device 2.
  • the housing 10 comprises a base 30 and a cover 32 being a multipart cover comprising a first cover part 32A, a second cover part 32B, a third cover part 32C, a fourth cover part (not shown), and a fifth cover part (not shown).
  • the cover 32 has a first surface 34 extending in first surface plane and comprising a first window 36, wherein the first camera 12 is configured to obtain a first image of a first image plane through the first window 36. In other words, the first camera is configured to take a first image of a first test tube assembly arranged outside the housing 10.
  • the first cover part 32A/first surface 34 optionally comprises the display 20 or at least a display region 20A.
  • the cover 32/second cover part 32B has a second surface 38 comprising a second window for each second camera, i.e. a second primary window 40A, a second secondary window 40B, a second tertiary window 40C, and a second quaternary window 40D.
  • Each second window 40A, 40, B, 40C, and 40D are aligned with respective second camera 14A, 14B, 14C, 14D to obtain respective second images IM_2_1 , IM_2_2, IM_2_3, IM_2_4 of a second image plane also denoted through the respective second windows 40A, 40, B, 40C, and 40D.
  • the second primary camera 14A is configured to obtain a second primary image IM_2_1 of a second primary through the second primary window 40A.
  • the second surface 38 or at least the second windows 40A, 40, B, 40C, and 40D are planar.
  • Fig. 3 is a top view of an example implementation of scanner device 2.
  • the scanner device comprises a first set of eight first magnets 41 A, 41 B, 41 C, 41 D, 41 E, 41 F, 41G, 41 H arranged around the first window 36 and configured to magnetically engage with a first tube rack and/or a spacer device.
  • the scanner device 2 comprises a second dock 44 configured to receive the second tube rack, the second dock 44 comprising a recess 46 in the base 30 and having a width W_R of in the range from 20 mm to 50 mm and a length L_R of in the range from 250 mm to 500 mm.
  • the recess 46 is a longitudinal recess extending along longitudinal axis XR and having a first end 48 and a second end 50.
  • the second end 50 is an open end allowing sliding of the second tube rack into correct scanning position along the longitudinal axis.
  • the recess 46 comprises first side wall 51 A and second side wall 51 B.
  • the base 30 comprises a second magnet 52 arranged at the recess 46 in the base 30 within 5 cm (measured along XR) from the first end 48.
  • the display 20 shown in more detail than in Fig. 2 comprises a set of tube indicators 54A- 54P comprising a tube indicator for each second test tube to be scanned with the scanner device.
  • the scanner device 2 is configured for scanning 16 second test tubes in a second tube rack and thus the display 20 comprises 16 tube indicators.
  • Fig. 4 is an end view of an example implementation of scanner device 2.
  • the first camera 12 is configured to obtain a first image of a first image plane IP_1 through the first window in the first surface 34.
  • the first image plane IP_1 is parallel to or at least forms an angle less than 5 degrees with the first surface 34.
  • the first image plane is arranged at a first image plane distance D_l P_1 from the first surface 34.
  • the D_l P_1 is in the range from 20 mm to 40 mm.
  • the second image planes, IP_2_1 , IP_2_2, IP_2_3, and IP_2_4 of respective second cameras 14A, 14B, 14C, 14D extend in the same plane IP_2.
  • the second image plane I P_2 is parallel to or at least forms an angle less than 20 degrees with the second surface 38.
  • the second image plane is arranged at a second image plane distance D_IP_2 from the second surface 38.
  • the D_IP_2 is in the range from 40 mm to 50 mm.
  • the angle V_1_2 between the first image plane and the second image plane and therefore also the angle V_1_2_1 between the first image plane and the second primary image plane is in the range from 70 degrees to 80 degrees.
  • a slightly tilted second image plane, e.g. less than 20 degrees, compared to the second test tube plane TTP_2 allows efficient use of the field of view of second cameras.
  • Figs. 5-9 show different views of an example tube rack, where Fig. 5 is a first side view, Fig. 6 is a top view, Fig. 7 is a first perspective view, Fig. 8 is a second perspective view, and Fig. 9 is a first end view.
  • the tube rack 102 can be used as or configured as a second tube rack for scanner device 2, a primary tube rack 102A, a secondary tube rack 102B, and/or a tertiary tube rack 102C.
  • the tube rack 102 is a 16-tube, single-line tube rack and comprises a plurality of tube receptacles 104A-104P arranged along a longitudinal axis XTR of the tube rack 102, each tube receptacle 104A-104P forming a tube cavity for accommodating a test tube.
  • the tube rack 102 comprises a rack body 106 having a first end 108 and a second end 110.
  • the tube rack 102 comprises a handle 112, e.g. arranged at the second end 110 of the tube rack 102.
  • the rack body 106 comprises a bottom surface 114 having a planar region. The bottom surface 114 may be planar.
  • Each tube receptacle 104A-104P comprises respective elastic members 116A-116P configured to press a test tube arranged in the respective tube receptacle 104A-104P towards, such as against and/or in contact with, a primary support surface and secondary support surface of the respective tube receptacle 104A-104P, e.g. in a first direction perpendicular to the longitudinal axis XTR of the tube rack.
  • Each tube receptacle 104A-104P, or at least one or more of the tube receptacles 104A- 104P, comprises respective primary support surface 118A-118P and/or secondary support surface 120A-120P, see also Fig. 10.
  • Elastic members 106A-106P are configured to press a test tube arranged in the respective tube receptacle 104A-104P towards, such as against and/or in contact with, the respective primary support surface 118A-118P and/or the respective secondary support surface 120A-120P.
  • the first elastic member 106A is configured to press a first test tube arranged in the first tube receptacle 104A towards, such as against and/or in contact with, the first primary support surface 118A and/or the first secondary support surface.
  • Each tube cavity, or at least one or more tube cavities, of tube receptacles 104A-104P is exposed, such as optically exposed, to a first side 122 of the tube rack 102 via a respective opening 124 or slit of each tube receptacle 104A-104PA.
  • the opening may have a width of at least 3 mm, such as in the range from 5 mm to 20 mm, such as from 8 mm to 12 mm.
  • the tube rack 102 comprises a primary rack identifier 126 arranged on a first side surface 128 of the tube rack 102, and a secondary rack identifier 130 arranged on the bottom surface 114 of the tube rack.
  • the primary rack identifier 126 and the secondary rack identifier 130 are 1 D bar codes or 2D bar codes.
  • Two rack identifiers reduces the risk of errors in handling, for example by allowing more equipment, such as a robot and a scanner device, to automatically scan the rack identifiers.
  • the tube receptacles 104A-104P such as elastic members 116A-116P, comprises respective receptacle identifier 132A-132P (see also Fig. 10), e.g.
  • receptacle identifiers 132A- 132P/first surfaces of elastic members 116A-116P are optically exposed to the first side 122 of the tube rack via opening 124 of respective tube receptacle 104A-104P.
  • the rack body 106 optionally comprises a ground part 134 and a first protrusion 136A extending from the ground part, the first protrusion 136A optionally comprising the first secondary support surface 120A and/or the second primary support surface 118B.
  • the rack body 106 may comprise a number of protrusions 136A-136N, each protrusion optionally comprising a secondary support surface from one tube receptacle and a primary support surface of a neighboring tube receptacle.
  • the first protrusion 136A comprises or forms the first secondary support surface 120A of first tube receptacle 116A and the second primary support surface 118B of second tube receptacle 116B.
  • the tube rack 106 comprises a first end part 138 and a second end part 140.
  • the first end part 138 comprises the first primary support surface 118A.
  • the tube rack 102 comprises a first magnet 142 arranged in a first magnet cavity 144 of the rack body 106 near or at the first end 108 within 5 cm from the first end 108.
  • the rack body 106 may comprise a side wall 146 forming a second side surface 148 of the tube rack 102.
  • the second side surface 148 optionally faces a second side 150 of the tube rack 106.
  • the rack body 106/side wall 146 such as each tube receptacle 104A-104P, optionally comprises a connector, such as a recess with protruding flanges, for mounting, such as releasably mounting, respective elastic members in respective tube receptacles, such as for receiving and holding a connector part of an elastic member.
  • the first tube receptacle 104A comprises a first connector for mounting the first elastic member 116A in the first tube receptacle 104A.
  • Fig. 10 shows a more detailed top view of an example tube receptacle 104, such as one or more of tube receptacles 104A-104P of tube rack 102.
  • the tube receptacle 104 comprises a connector 152 for mounting an elastic member, such as elastic member 116, in the tube receptacle 104.
  • the connector 152 is formed as a recess 154 with overlapping flanges 156A, 156B in the sidewall 146 for fixing, such as by press-fit, a connector part, see Fig. 11 , in the connector 152.
  • the tube receptacle, including a receptacle identifier is optically exposed to the first side 122 of the tube rack via a slit or opening 124 of the tube receptacle 104, the opening 124 formed between protrusions 136.
  • the opening 124 has a width also denoted W_S in the range from 4 mm to 10 mm, such as less than 9 mm.
  • the receptacle 104 comprises a primary support surface 118, also referenced 118A-118P for respective tube receptacles 104A-104P, and a secondary support surface 120, also referenced 120A-120P for respective tube receptacles 104A-104P.
  • the primary support surface 118 such as primary support surfaces 118A-118P, faces the second end 110 and the second side 150.
  • the secondary support surface 120 such as secondary support surfaces 120A-120P, faces the first end 108 and the second side 150.
  • Elastic members 106A-106P are configured to press a test tube arranged in the respective tube receptacle 104A-104P towards, such as against and/or in contact with, the respective primary support surface 118A-118P and/or the respective secondary support surface 120A-120P.
  • the first elastic member 106A is configured to press a first test tube arranged in the first tube receptacle 104A towards, such as against and/or in contact with, the first primary support surface 118A and/or the first secondary support surface.
  • the tube rack optionally comprises secondary receptacle identifiers 158.
  • a secondary receptacle identifier such as a number and/or letter, is optionally indicative of a tube receptacle and may be arranged on top or end of a protrusion 136, such as the protrusion with the primary support surface of the tube receptacle indicated by the secondary receptacle.
  • the tube rack may comprise a first secondary receptacle identifier, such as letter “A” or number “1” indicative of the first tube receptacle 104A, wherein the first secondary receptacle identifier is arranged at the top/end of a protrusion forming (at least part of) first end part 138.
  • the tube rack may comprise a second secondary receptacle identifier, such as letter “B” or number “2” indicative of the second tube receptacle 104B, wherein the second secondary receptacle identifier is arranged at the top/end of the first protrusion 136A forming or comprising the second primary support surface of the second tube receptacle.
  • Secondary receptacle identifiers of the tube rack may improve manual handling and reduce errors in the handling of test tubes.
  • Fig. 11 shows a more detailed view of an elastic member 116, such as one or more of elastic members 116A-116P.
  • the elastic member 116 comprises a connector part 160 for mounting the elastic member by inserting the connector part 160 in a connector of the tube receptacle, such as in connector 152.
  • the connector part 160 comprises a first connector part 162, a second connector part 164, and optionally a connector bend 166 between the first connector part 162 and the second connector part 164.
  • the first connector part 162 and the second connector part 164 form an angle less than 45 degrees, such as less than 30 degrees, e.g. 15 degrees, 20 degrees or 25 degrees.
  • the elastic member 116 is made of a single blank and has a first end 168 and a second end 170.
  • the elastic member 116 has a width in the range from 5 mm to 15 mm, such as 10 mm. The width may vary along the length of the elastic member.
  • the elastic member comprises a first bend 172 and a first part 174, the first bend 172 optionally arranged between the first part 174 and the second connector part 164.
  • the first part 174 is configured as a guide for a test tube during insertion of the test tube in the tube receptacle.
  • the first part 174 and the second connector part 164 (first bend) form an angle less than 60 degrees, such as less than 45 degrees, e.g. 40 degrees, 30 degrees, or 20 degrees.
  • the elastic member optionally comprises a second bend 176 and a second part 178, the second bend 176 optionally arranged between the first part 174 and the second part 178.
  • the first part 174 and/or the second part 178 optionally comprises a (primary) receptacle identifier 132, such as respective receptacle identifier 132A-132P of respective tube receptacle 104A-104P.
  • the receptacle identifier 132 such as a number, sign or symbol, is arranged on a first surface 180 of the elastic member, such as of the second part 178 as illustrated, and faces the first side 122 of the tube rack, thereby being optically exposed to the scanner via the opening 124 of the tube receptacle when no test tube is arranged in the tube receptacle. Thereby, empty-receptacle detection by a scanner device is facilitated.
  • the receptacle identifier 132 may be common to the tube receptacles 104A- 104P or be different receptacle identifiers.
  • the second bend and/or the second part when a test tube is inserted in the tube receptacle, acts a support surface contacting the test tube and pressing the test tube against primary support surface and/or secondary support surface of the tube receptacle, due to the elasticity provided by first bend 172 and/or first part 174.
  • Figs. 12-14 show different views of an example rack base for a rack system comprising the rack base and a plurality of tube racks, such as tube racks 102A, 102B, 102C, where Fig. 12 is a perspective view, Fig. 13 is a top view, and Fig. 14 is a bottom view.
  • the rack base 200 has a top surface 202, a bottom surface 204, a first end 205A, and a second end 205B, and comprises a plurality of docks including a primary dock 206A, a secondary dock 206B, and a tertiary dock 206C respectively configured to receive a tube rack.
  • the primary dock 206A is configured to receive a primary tube rack such as primary tube rack 102A, the primary dock 206A comprising a primary recess 208A in the top surface 202, the primary recess 208A being a longitudinal recess having a first end 210A and a second end 212A, such as an open second end as illustrated, and the secondary dock 206B comprising a secondary recess 208B in the top surface 202, the secondary recess being a longitudinal recess having a first end 210B and a second end 212B, such as an open second end as illustrated.
  • the tertiary dock 206C comprises a tertiary recess 208C in the top surface 202, the tertiary recess 208C being a longitudinal recess having a first end 210C and a second end 212C, such as an open second end as illustrated.
  • An open second end allows a user to slide the tube rack along the longitudinal axis XTB.
  • the primary recess 208A comprises a primary support surface 214A, a primary first side wall 216A, and a primary second side wall 218A.
  • the secondary recess 208B comprises a secondary support surface 214B, a secondary first side wall 216B, and a secondary second side wall 218B.
  • the tertiary recess 208C comprises a tertiary support surface 214C, a tertiary first side wall 216C, and a tertiary second side wall 218C.
  • the support surfaces 214A, 214B, 214C form floors for respectively supporting a tube rack in the rack base 200.
  • the primary dock 206A comprises a primary opening 220A for scanning a rack identifier of the primary tube rack through the primary opening 220A from the bottom side or surface of the rack base 200 when the primary tube rack is inserted in the primary dock.
  • the secondary dock 206B comprises a secondary opening 220B for scanning a rack identifier of the secondary tube rack through the secondary opening 220B from the bottom side or surface of the rack base 200 when the secondary tube rack is inserted in the secondary dock 206B.
  • the tertiary dock 206C comprises a tertiary opening 220A for scanning a rack identifier of the tertiary tube rack through the tertiary opening 220A from the bottom side or surface of the rack base 200, when the tertiary tube rack is inserted in the tertiary dock through the tertiary opening 220A from the bottom side or surface of the rack base 200.
  • the primary dock 206A comprises a primary magnet 222A configured to magnetically engage with the primary tube rack when inserted and/or during insertion in the primary dock.
  • the primary magnet 222A is arranged in primary magnet bore 224A formed in the bottom surface 204 of the rack base 200.
  • the secondary dock 206B comprises a secondary magnet 222B configured to magnetically engage with the secondary tube rack when inserted and/or during insertion in the secondary dock.
  • the secondary magnet 222B is arranged in secondary magnet bore 224B formed in the bottom surface 204 of the rack base 200.
  • the tertiary dock 206C comprises a tertiary magnet 222C configured to magnetically engage with the tertiary tube rack when inserted and/or during insertion in the tertiary dock.
  • the tertiary magnet 222C is arranged in tertiary magnet bore 224C formed in the bottom surface 204 of the rack base 200.
  • the rack base 200 comprises a first robot engagement member 226A arranged on the bottom surface 204 for engagement with an experiment layer or work deck of a robot.
  • the rack base 200 comprises a second robot engagement member 226B arranged on the bottom surface 204 for engagement with an experiment layer or work deck of a robot.
  • the openings 220C, 220B, and 220C are optionally arranged between the first robot engagement 226A member and the second robot engagement member 226B along the longitudinal axis XTB.
  • the first robot engagement member 226A and/or the second robot engagement member 226B may be formed as a respective closed ridge protruding from the bottom surface 204 as illustrated, where the outer circumference of the respective closed ridge fits an opening in an experiment layer/table of a robot.
  • Each dock 206A, 206B, 206C optionally comprises a respective asymmetric first tube rack engagement member 228A, 228B, 228C at the respective first end 210A, 21 OB, 210C of recesses 208A, 208B, 208C for securing correct orientation of respective tube racks in the docks 206A, 206B, 206C.
  • Figs. 15 and 16 show perspective views of a rack system, where Fig. 15 is a first perspective view, and Fig. 16 is a second perspective view.
  • the rack system 100 comprises rack base 200, a primary tube rack 102A, a secondary tube rack 102B and a tertiary tube rack 102C.
  • the secondary identifiers 130A, 130B, 130C can scanned from the bottom side of the rack base 200 via respective openings 220A, 220B, 220C.
  • Fig. 17 shows the scanning device 2 comprising a spacer device 250 arranged on the first surface 34 and comprising a first dock 42 for receiving and supporting the first tube rack.
  • the spacer device is configured to arrange the first tube rack in a first scanning position for the first camera 12.
  • the spacer device 250 provides a distance between the first surface 34 and the first tube rack thereby reducing the risk of or avoiding formation of ice, condensation or moisture on the first window 36, e.g. when the first tube rack is a cryo rack directly from a freezer, which may lead to poor or erroneous scanning of the first test tube assembly.
  • the spacer device 250 has a frame 252 with an opening 254 through which the first test tube assembly can be scanned by the first camera via the first window 36.
  • the spacer device 250 comprises one or more, such as at least four, spacer magnets (not shown) circumferentially arranged around the opening 254 to magnetically engage with first magnets of the scanner device 2, such as with first magnets 41 A-41 H.
  • first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. does not imply any particular order, but are included to identify individual elements.
  • the use of the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary”, “quaternary” etc. does not denote any order or importance, but rather the terms “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary”, “quaternary” etc. and combinations thereof are used to distinguish one element from another.
  • the words “first”, “second”, “third” and “fourth”, “primary”, “secondary”, “tertiary” etc. are used here and elsewhere for labelling purposes only and are not intended to denote any specific spatial or temporal ordering.
  • the labelling of a first element does not imply the presence of a second element and vice versa.
  • the figures comprise some circuitries or operations which are illustrated with a solid line and some circuitries or operations which are illustrated with a dashed line.
  • the circuitries or operations which are comprised in a solid line are circuitries or operations which are comprised in the broadest example embodiment.
  • the circuitries or operations which are comprised in a dashed line are example embodiments which may be comprised in, or a part of, or are further circuitries or operations which may be taken in addition to the circuitries or operations of the solid line example embodiments. It should be appreciated that these operations need not be performed in order presented. Furthermore, it should be appreciated that not all of the operations need to be performed.
  • the exemplary operations may be performed in any order and in any combination.
  • any reference signs do not limit the scope of the claims, that the exemplary embodiments may be implemented at least in part by means of both hardware and software, and that several “means”, “units” or “devices” may be represented by the same item of hardware.
  • a computer-readable medium may include removable and non-removable storage devices including, but not limited to, Read Only Memory (ROM), Random Access Memory (RAM), compact discs (CDs), digital versatile discs (DVD), etc.
  • program circuitries may include routines, programs, objects, components, data structures, etc. that perform specified tasks or implement specific abstract data types.
  • Computer-executable instructions, associated data structures, and program circuitries represent examples of program code for executing steps of the methods disclosed herein. The particular sequence of such executable instructions or associated data structures represents examples of corresponding acts for implementing the functions described in such steps or processes.
  • scanner devices and scanner system according to any of the following items A1-A16.
  • Scanner device comprising: a housing comprising a base and a cover; a first camera for provision of first image data indicative of a first test tube assembly; one or more second cameras for provision of second image data indicative of a second test tube assembly, the one or more second cameras including a second primary camera for provision of second primary image data indicative of one or more test tubes arranged in a second tube rack of the second test tube assembly; and one or more processors connected to the first camera and the second primary camera, wherein the one or more processors are configured to: determine a first set of first tube identifiers based on the first image data; determine a second set of second tube identifiers based on the second image data; and output a data record indicative of the first set of tube identifiers and/or the second set of tube identifiers.
  • the cover having a first surface comprising a first window, and wherein the first camera is configured to obtain a first image of a first image plane through
  • Item A3 Scanner device according to any one of items A1-A2, the scanner device comprising a first set of one or more first magnets arranged around the first window.
  • Item A4 Scanner device according to any one of items A1-A3, the cover having a second surface comprising one or more second windows including a second primary window, and wherein the second primary camera is configured to obtain a second primary image of a second primary image plane through the second primary window.
  • Item A6 Scanner device according to any one of items A1-A5, wherein the one or more processors are configured to determine a second rack identifier of the second tube rack and wherein the data record is indicative of the second rack identifier.
  • Item A7 Scanner device according to any one of items A1-A6, wherein the first test tube assembly comprises a matrix plate configured to accommodate a plurality of first test tubes, and the second test tube assembly comprises a line tube rack configured to accommodate a plurality of second test tubes.
  • Item A8 Scanner device according to any one of items A1-A7, wherein the first camera has a first resolution of a least 2 megapixel and the second primary camera has a second resolution of at least 1 megapixel.
  • Item A9 Scanner device according to any one of items A1-A8, wherein the one or more second cameras include a second secondary camera for provision of second secondary image data indicative of one or more test tubes arranged in the second test tube assembly, and wherein to determine the second set of tube identifiers based on the second image data comprises to determine the second set of tube identifiers based on the second secondary image data.
  • Item A10 Scanner device according to any one of items A1-A9, wherein the first set of tube identifiers are based on 2D barcodes.
  • Item A11 Scanner device according to any one of items A1 -A10, wherein the second set of tube identifiers are based on 1 D barcodes.
  • the scanner device comprises a second dock configured to receive the second tube rack, the second dock comprising a recess in the base, the recess being a longitudinal recess having a first end and a second end.
  • Item A14 Scanner device according to any one of the items A1-A13, wherein to determine the first set of first tube identifiers based on the first image data comprises to determine at least ten first tube identifiers based on the first image data.
  • Item A15 Scanner device according to any one of the items A1-A14, wherein to determine the second set of second tube identifiers based on the second image data comprises to determine at least ten second tube identifiers based on the second image data.
  • Item A16 Scanner device according to any one of the items A1-A15, wherein the scanner device comprises a spacer device comprising a first dock configured to arrange the first tube rack in a first scanning position for the first camera.
  • Scanner system comprising a scanner device according to any one of items A1- A16, the scanner system comprising a first tube rack and/or a second tube rack, wherein the second tube rack is a tube rack according to any of items B1-B8.
  • a tube rack for test tubes being a single-line tube rack and comprising: a plurality of tube receptacles arranged along a longitudinal axis, each tube receptacle forming a tube cavity, wherein each tube cavity is exposed to a first side of the tube rack; and a rack body having a first end and a second end and comprising a bottom surface, the bottom surface having a planar region, wherein a first tube receptacle of the plurality of tube receptacles comprises a first primary support surface, a first secondary support surface, and a first elastic member configured to press a first test tube arranged in the first tube receptacle towards the first primary support surface and the first secondary support surface.
  • Tube rack according to item B1 wherein the tube rack comprises one or more rack identifiers, the one or more rack identifiers comprising one or both of a primary rack identifier and a secondary rack identifier, wherein the primary rack identifier is arranged on a first side surface of the tube rack and the secondary rack identifier is arranged on the bottom surface of the tube rack.
  • Item B3 Tube rack according to any one of items B1-B2, wherein the first elastic member comprises a first receptacle identifier arranged on a first surface of the first elastic member.
  • Tube rack according to any one of items B1-B3, the plurality of tube receptacles comprising a second tube receptacle adjacent the first tube receptacle and comprising a second primary support surface, a second secondary support surface, and a second elastic member configured to press a second test tube arranged in the second tube receptacle towards the second primary support surface and the second secondary support surface.
  • Tube rack according to item B4 wherein the rack body comprises a ground part and a first protrusion extending from the ground part, the first protrusion comprising the first secondary support surface and the second primary support surface.
  • Tube rack according to any one of items B1-B5 wherein the tube rack comprises one or more magnets arranged in or on the rack body, the one or more magnets comprising a first magnet arranged in a first magnet cavity of the rack body.
  • Item B7 Tube rack according to any one of items B1-B6, wherein the rack body comprises a side wall forming a second side surface of the tube rack and comprising a first connector for mounting the first elastic member to the rack body.
  • Item B8 Tube rack according to any one of items B1-B7, wherein the rack body is made of a metallic material.
  • Rack base for a rack system comprising the rack base and a plurality of tube racks, the rack base having a top surface and a bottom surface and comprising a plurality of docks including a primary dock and a secondary dock, the primary dock configured to receive a primary tube rack, the primary dock comprising a primary recess in the top surface, the primary recess being a longitudinal recess having a first end and an open second end, and the secondary dock comprising a secondary recess in the top surface, the secondary recess being a longitudinal recess having a first end and an open second end.
  • the primary dock comprising a primary opening for scanning a rack identifier of the primary tube rack through the primary opening and the secondary dock comprising a secondary opening for scanning a rack identifier of the secondary tube rack through the secondary opening.
  • Item B11 Rack base according to any one of items B9-B10, the primary dock comprising one or more magnets arranged in the rack base, the one or more magnets of the primary dock configured to magnetically engage with the primary tube rack, and the secondary dock comprising one or more magnets arranged in the rack base, the one or more magnets of the secondary dock configured to magnetically engage with the secondary tube rack.
  • Item B12 Rack base according to any one of items B9-B11 , wherein the rack base comprises a first robot engagement member arranged on the bottom surface for engagement with an experiment layer of a robot.
  • Item B13 Rack base according to item B11 as dependent on item B10, wherein the rack base comprises a second robot engagement member arranged on the bottom surface for engagement with an experiment layer of a robot, wherein the primary opening and the secondary opening are arranged between the first robot engagement member and the second robot engagement member along a longitudinal axis of the rack base.
  • Item B14 Rack base according to any one of items B9-B13, wherein the primary dock comprises an asymmetric primary tube rack engagement member at the first end of the primary recess for securing correct orientation of the primary tube rack in the primary dock.
  • Item B15 Rack system comprising a rack base according to any one of items B9-B14, a primary tube rack, and a secondary tube rack, wherein the primary tube rack is a tube rack according to any of items B1-B8.
  • D_IP_1 first image plane distance from first surface to first image plane
  • HID_1 first image data
  • ID_2_1 second primary image data
  • ID_2_2 second secondary image data
  • IP_1 first image plane
  • IP_2_1 second primary image plane
  • IP_2_2 second secondary image plane
  • IP_2_3 second tertiary image plane
  • IP_2_4 second quaternary image plane
  • V_1_2 angle between first image plane and second image plane

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  • Engineering & Computer Science (AREA)
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  • General Health & Medical Sciences (AREA)
  • Toxicology (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • Artificial Intelligence (AREA)
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  • Chemical & Material Sciences (AREA)
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  • Biochemistry (AREA)
  • Immunology (AREA)
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  • Automatic Analysis And Handling Materials Therefor (AREA)

Abstract

L'invention concerne un dispositif de balayage et des systèmes de support de tube, le dispositif de balayage comprenant un boîtier comprenant une base et un couvercle ; une première caméra pour la fourniture de premières données d'image indiquant un premier ensemble tube de test ; une ou plusieurs secondes caméras pour la fourniture de secondes données d'image indicatives d'un second ensemble tube de test, la ou les secondes caméras comprenant une seconde caméra primaire pour la fourniture de secondes données d'image primaire indiquant un ou plusieurs tubes de test agencés dans un second support de tube du second ensemble tube de test ; et un ou plusieurs processeurs connectés à la première caméra et à la seconde caméra primaire, le ou les processeurs étant configurés pour déterminer un premier ensemble de premiers identifiants de tube sur la base des premières données d'image ; déterminer un second ensemble de seconds identifiants de tube sur la base des secondes données d'image ; et délivrer en sortie un enregistrement de données indiquant le premier ensemble de premiers identifiants de tube et/ou du second ensemble de seconds identifiants de tube.
PCT/EP2024/052239 2023-02-08 2024-01-30 Dispositif de balayage à supports multiples pour balayage de tube de test Ceased WO2024165382A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DKPA202370071 2023-02-08
DKPA202370071 2023-02-08

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170190056A1 (en) * 2015-12-31 2017-07-06 Counsyl, Inc. Robotic System for Sorting Sample Tubes
WO2019013960A1 (fr) * 2017-07-11 2019-01-17 Siemens Healthcare Diagnostics Inc. Procédés et systèmes d'amélioration de bord d'image basée sur l'apprentissage pour cercles supérieurs de tube d'échantillon
US20210127829A1 (en) * 2018-12-21 2021-05-06 Idetic Llc Rack for supporting collection containers

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170190056A1 (en) * 2015-12-31 2017-07-06 Counsyl, Inc. Robotic System for Sorting Sample Tubes
WO2019013960A1 (fr) * 2017-07-11 2019-01-17 Siemens Healthcare Diagnostics Inc. Procédés et systèmes d'amélioration de bord d'image basée sur l'apprentissage pour cercles supérieurs de tube d'échantillon
US20210127829A1 (en) * 2018-12-21 2021-05-06 Idetic Llc Rack for supporting collection containers

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